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Refactor IntakeDeploySubsystem so it extends on positive values (instead of negative from 0) #363

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Refactor IntakeDeploySubsystem so it extends on positive values (instead of negative from 0) #363

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3881b59
IntakeDeploy to increase
WeWaWu Apr 1, 2026
9ab4555
Merge branch 'main' into IntakeAtZero
WeWaWu Apr 1, 2026
550c5f4
Merge branch 'main' into IntakeAtZero
WeWaWu Apr 3, 2026
a6adc6a
Small changes
WeWaWu Apr 3, 2026
b2ad92a
Merge branch 'main' into IntakeAtZero
WeWaWu Apr 3, 2026
eb39d5b
Inverted Encoders and Motors
WeWaWu Apr 3, 2026
101c13a
Merge branch 'IntakeAtZero' of https://github.com/Team488/TeamXbot202…
WeWaWu Apr 3, 2026
4c48fcd
Merge branch 'main' into IntakeAtZero
WeWaWu Apr 3, 2026
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5 changes: 3 additions & 2 deletions src/main/java/competition/electrical_contract/Contract2026.java
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Original file line number Diff line number Diff line change
Expand Up @@ -192,15 +192,16 @@ public CANMotorControllerInfo getIntakeDeployMotor() {
new TalonFxMotorControllerOutputConfig()
.withSupplyCurrentLimit(Amps.of(15), Amps.of(30), Seconds.of(1))
.withStatorCurrentLimit(Amps.of(50))
.withRemoteCanCoderFeedback(getIntakeDeployAbsoluteEncoder().channel));
.withRemoteCanCoderFeedback(getIntakeDeployAbsoluteEncoder().channel)
.withInversionType(CANMotorControllerOutputConfig.InversionType.Inverted));
}

@Override
public boolean isIntakeDeployAbsoluteEncoderReady() { return true; }

@Override
public DeviceInfo getIntakeDeployAbsoluteEncoder() {
return new DeviceInfo("IntakeDeployAbsoluteEncoderReady", CANBusId.Canivore, 58);
return new DeviceInfo("IntakeDeployAbsoluteEncoderReady", CANBusId.Canivore, 58, true);
}

@Override
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8 changes: 4 additions & 4 deletions src/main/java/competition/subsystems/intake_deploy/IntakeDeploySubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -80,13 +80,13 @@ public IntakeDeploySubsystem(XCANMotorController.XCANMotorControllerFactory xcan
this.intakeDeployEncoder = null;
}

this.retractedPosition = propertyFactory.createPersistentProperty("RetractedPosition", -10.0);
this.extendedPosition = propertyFactory.createPersistentProperty("ExtendedPosition", -145.0);
this.retractedPosition = propertyFactory.createPersistentProperty("RetractedPosition", 10.0);
this.extendedPosition = propertyFactory.createPersistentProperty("ExtendedPosition", 145.0);

this.manualControlPower = propertyFactory.createPersistentProperty("ManualControlPower", 0.2);

this.mechanismDegreePerMotorRotation = propertyFactory.createPersistentProperty("MechanismDegreePerMotorRotation", 360);
this.mechanismTargetRotation = propertyFactory.createPersistentProperty("MechanismTargetRotation", Degrees.of(-10));
this.mechanismTargetRotation = propertyFactory.createPersistentProperty("MechanismTargetRotation", Degrees.of(10));

this.maxPidVelocity = propertyFactory.createPersistentProperty("PidMaxMotorVelocity-RotationsPerSecond", 200);
this.maxPidAcceleration = propertyFactory.createPersistentProperty("PidMaxMotorAcceleration-RotationsPerSecondPerSecond", 200);
Expand All @@ -103,7 +103,7 @@ public IntakeDeploySubsystem(XCANMotorController.XCANMotorControllerFactory xcan
@Override
public Angle getCurrentValue() {
if (intakeDeployEncoder != null) {
return intakeDeployEncoder.getAbsolutePosition();
return intakeDeployEncoder.getAbsolutePosition().times(-1);
}

return Degrees.zero();
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